mpblocks::dubins::kd_tree::KNearest< Scalar > Class Template Reference

#include <mpblocks/dubins/kd_tree/KNearest.h>

Inheritance diagram for mpblocks::dubins::kd_tree::KNearest< Scalar >:

Public Types
typedef Distance< Scalar >	Distance_t
typedef Traits< Scalar >::HyperRect	HyperRect_t
typedef Key< Scalar >	Key_t
typedef Key_t::LessThan	KeyCompare
typedef std::vector< Key_t >	KeyVec
typedef Traits< Scalar >::Node	Node_t
typedef Eigen::Matrix< Scalar, 3, 1 >	Point
typedef std::priority_queue < Key_t, KeyVec, KeyCompare >	PQueue_t
Public Types inherited from mpblocks::kd_tree::NearestSearchIface< Traits< Scalar > >
typedef Traits< Scalar >::Format_t	Format_t
typedef Traits< Scalar >::HyperRect	HyperRect_t
typedef Traits< Scalar >::Node	Node_t
typedef Vector_t	Point_t
typedef Eigen::Matrix < Format_t, Traits< Scalar > ::NDim, 1 >	Vector_t

Public Member Functions
virtual void	evaluate (const Point &q, const Point &p, Node_t *n)
	calculates Euclidean distance from q to p, and if its less than the current best replaces the current best node with n More...
	KNearest (unsigned int k=1, Scalar radius=1)
void	reset ()
void	reset (int k, Scalar radius)
PQueue_t &	result ()
virtual bool	shouldRecurse (const Point &q, const HyperRect_t &r)
	evaluate the Euclidean distance from q to it's closest point in r and if that distance is less than the current best distance, return true More...
virtual	~KNearest ()
Public Member Functions inherited from mpblocks::kd_tree::NearestSearchIface< Traits< Scalar > >
virtual void	evaluate (const Point_t &q, const Point_t &p, Node_t *n)=0
	evaluate the current point, and add the corresponding node to the result set if necessary More...
virtual bool	shouldRecurse (const Point_t &q, const HyperRect_t &h)=0
	evaluate the hyper rectangle and return true if it is possible that we must recurse into it More...
virtual	~NearestSearchIface ()
	just ensure virtualness More...

Public Attributes
unsigned int	m_boxesEvaluated
unsigned int	m_nodesEvaluated

Protected Attributes
unsigned int	m_k
PQueue_t	m_queue
Scalar	m_radius

Detailed Description

template<typename Scalar>
class mpblocks::dubins::kd_tree::KNearest< Scalar >

Definition at line 39 of file KNearest.h.

Member Typedef Documentation

template<typename Scalar >

typedef Distance<Scalar> mpblocks::dubins::kd_tree::KNearest< Scalar >::Distance_t

Definition at line 46 of file KNearest.h.

template<typename Scalar >

typedef Traits<Scalar>::HyperRect mpblocks::dubins::kd_tree::KNearest< Scalar >::HyperRect_t

Definition at line 44 of file KNearest.h.

template<typename Scalar >

typedef Key<Scalar> mpblocks::dubins::kd_tree::KNearest< Scalar >::Key_t

Definition at line 47 of file KNearest.h.

template<typename Scalar >

typedef Key_t::LessThan mpblocks::dubins::kd_tree::KNearest< Scalar >::KeyCompare

Definition at line 48 of file KNearest.h.

template<typename Scalar >

typedef std::vector<Key_t> mpblocks::dubins::kd_tree::KNearest< Scalar >::KeyVec

Definition at line 49 of file KNearest.h.

template<typename Scalar >

typedef Traits<Scalar>::Node mpblocks::dubins::kd_tree::KNearest< Scalar >::Node_t

Definition at line 43 of file KNearest.h.

template<typename Scalar >

typedef Eigen::Matrix<Scalar,3,1> mpblocks::dubins::kd_tree::KNearest< Scalar >::Point

Definition at line 51 of file KNearest.h.

template<typename Scalar >

typedef std::priority_queue<Key_t,KeyVec,KeyCompare> mpblocks::dubins::kd_tree::KNearest< Scalar >::PQueue_t

Definition at line 52 of file KNearest.h.

Constructor & Destructor Documentation

template<typename Scalar >

mpblocks::dubins::kd_tree::KNearest< Scalar >::KNearest	(	unsigned int	k = 1,
		Scalar	radius = 1
	)

Definition at line 37 of file KNearest.hpp.

template<typename Scalar >

virtual mpblocks::dubins::kd_tree::KNearest< Scalar >::~KNearest ( )

inlinevirtual

Definition at line 65 of file KNearest.h.

Member Function Documentation

template<typename Scalar >

void mpblocks::dubins::kd_tree::KNearest< Scalar >::evaluate ( const Point &  q, const Point &  p, Node_t *  n  )

virtual

calculates Euclidean distance from q to p, and if its less than the current best replaces the current best node with n

Definition at line 76 of file KNearest.hpp.

template<typename Scalar >

void mpblocks::dubins::kd_tree::KNearest< Scalar >::reset

(

)

Definition at line 47 of file KNearest.hpp.

template<typename Scalar >

void mpblocks::dubins::kd_tree::KNearest< Scalar >::reset	(	int	k,
		Scalar	radius
	)

Definition at line 57 of file KNearest.hpp.

template<typename Scalar >

KNearest< Scalar >::PQueue_t & mpblocks::dubins::kd_tree::KNearest< Scalar >::result

(

)

Definition at line 67 of file KNearest.hpp.

template<typename Scalar >

bool mpblocks::dubins::kd_tree::KNearest< Scalar >::shouldRecurse ( const Point &  q, const HyperRect_t &  r  )

virtual

evaluate the Euclidean distance from q to it's closest point in r and if that distance is less than the current best distance, return true

Definition at line 99 of file KNearest.hpp.

Member Data Documentation

template<typename Scalar >

unsigned int mpblocks::dubins::kd_tree::KNearest< Scalar >::m_boxesEvaluated

Definition at line 55 of file KNearest.h.

template<typename Scalar >

unsigned int mpblocks::dubins::kd_tree::KNearest< Scalar >::m_k

protected

Definition at line 58 of file KNearest.h.

template<typename Scalar >

unsigned int mpblocks::dubins::kd_tree::KNearest< Scalar >::m_nodesEvaluated

Definition at line 54 of file KNearest.h.

template<typename Scalar >

PQueue_t mpblocks::dubins::kd_tree::KNearest< Scalar >::m_queue

protected

Definition at line 59 of file KNearest.h.

template<typename Scalar >

Scalar mpblocks::dubins::kd_tree::KNearest< Scalar >::m_radius

protected

Definition at line 60 of file KNearest.h.

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The documentation for this class was generated from the following files:

• include/mpblocks/dubins/kd_tree/KNearest.h
• include/mpblocks/dubins/kd_tree/KNearest.hpp